To address performance issues caused by multi-source uncertainties of a rigid-flexible coupling hoisting robot (RFCHR), a performance optimization design method of the RFCHR considering cable deformation and random loading is proposed. The kinematic and dynamic models of the RFCHR are established, and the sources of uncertainty in cable deformation and random loading are analyzed, uncertain parameters are introduced into the dynamic model, and the dynamic uncertainty quantification of the RFCHR is achieved using the random interval perturbation method (RIPM). The reliability index is established based on the quantification analysis results. Subsequently, two performance indices including the workspace and static stiffness are established. A multi-objective optimization model is established based on performance indices, and the optimization design of the RFCHR is realized based on the optimization algorithm. Numerical examples demonstrate that the reliability, workspace, and static stiffness of the optimized RFCHR are improved by 10.7%, 13.4%, and 8.02%, respectively. In addition, the effectiveness of the RFCHR optimization design method is experimentally validated.

中文翻译：

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考虑缆索变形和随机载荷的刚柔耦合起重机器人性能分析与优化设计


针对刚柔耦合提升机器人(RFCHR)多源不确定性引起的性能问题，提出一种考虑缆索变形和随机载荷的RFCHR性能优化设计方法。建立了RFCHR的运动学和动力学模型，分析了索变形和随机加载的不确定性来源，在动力学模型中引入不确定参数，利用随机区间摄动法实现了RFCHR的动态不确定性量化（RIPM）。可靠性指标是根据量化分析结果建立的。随后，建立了包括工作空间和静刚度在内的两个性能指标。基于性能指标建立多目标优化模型，并基于优化算法实现RFCHR的优化设计。数值算例表明，优化后的RFCHR的可靠性、工作空间和静刚度分别提高了10.7%、13.4%和8.02%。此外，还通过实验验证了RFCHR优化设计方法的有效性。